Merge pull request autowarefoundation#896 from tier4/sync-tier4-upstream

chore: sync upstream
tier4 · Jul 11, 2024 · c52689c · c52689c
2 parents 8532bba + 819111f
commit c52689c
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Showing 13 changed files with 59 additions and 24 deletions.
diff --git a/...fig/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/...fig/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
@@ -3,6 +3,8 @@
     # Ego path calculation
     use_predicted_trajectory: true
     use_imu_path: false
+    use_pointcloud_data: true
+    use_predicted_object_data: false
     use_object_velocity_calculation: true
     min_generated_path_length: 0.5
     imu_prediction_time_horizon: 1.5
@@ -25,7 +27,8 @@
     path_footprint_extra_margin: 4.0
 
     # Point cloud clustering
-    cluster_tolerance: 0.1 #[m]
+    cluster_tolerance: 0.15 #[m]
+    cluster_minimum_height: 0.0
     minimum_cluster_size: 10
     maximum_cluster_size: 10000
 

diff --git a/autoware_launch/config/localization/eagleye_config.param.yaml b/autoware_launch/config/localization/eagleye_config.param.yaml
@@ -10,7 +10,7 @@
       twist_topic: /sensing/vehicle_velocity_converter/twist_with_covariance
     imu_topic: /sensing/imu/imu_data
     gnss:
-      velocity_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3
+      velocity_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3, septentrio_gnss_driver/PVTGeodetic: 4
       velocity_source_topic: /sensing/gnss/ublox/navpvt
       llh_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2
       llh_source_topic: /sensing/gnss/ublox/nav_sat_fix

diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml
@@ -39,6 +39,11 @@
       pose_no_update_count_threshold_error: 100
       twist_no_update_count_threshold_warn: 50
       twist_no_update_count_threshold_error: 100
+      ellipse_scale: 3.0
+      error_ellipse_size: 1.5
+      warn_ellipse_size: 1.2
+      error_ellipse_size_lateral_direction: 0.3
+      warn_ellipse_size_lateral_direction: 0.25
 
     misc:
       # for velocity measurement limitation (Set 0.0 if you want to ignore)

diff --git a/...ig/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml b/...ig/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml
@@ -13,7 +13,7 @@
     filter_settings:
       # polygon overlap based filter
       polygon_overlap_filter:
-       enabled: true
+        enabled: true
       # velocity direction based filter
       lanelet_direction_filter:
         enabled: false

diff --git a/...fig/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml b/...fig/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml
@@ -9,3 +9,13 @@
       MOTORCYCLE : true
       BICYCLE : true
       PEDESTRIAN : true
+
+    filter_settings:
+      # polygon overlap based filter
+      polygon_overlap_filter:
+        enabled: true
+      # velocity direction based filter
+      lanelet_direction_filter:
+        enabled: false
+        velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
+        object_speed_threshold: 3.0 # [m/s]
diff --git a/...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/...oware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
@@ -5,13 +5,13 @@
       resample_interval_for_planning: 0.3               # [m] FOR DEVELOPER
       resample_interval_for_output: 4.0                 # [m] FOR DEVELOPER
 
-      # avoidance module common setting
-      enable_bound_clipping: false
-      disable_path_update: false
-
+      # drivable lane setting. this module is able to use not only current lane but also right/left lane
+      # if the current lane(=lanelet::Lanelet) and the right/left lane share the boundary(=lanelet::Linestring) in HDMap.
+      # "current_lane"           : use only current lane. this module doesn't use adjacent lane to avoid object.
+      # "same_direction_lane"    : this module uses same direction lane to avoid object if need.
+      # "opposite_direction_lane": this module uses both same direction and opposite direction lane.
+      use_lane_type: "opposite_direction_lane"
       # drivable area setting
-      use_adjacent_lane: true
-      use_opposite_lane: true
       use_intersection_areas: true
       use_hatched_road_markings: true
       use_freespace_areas: true
@@ -178,6 +178,7 @@
         safety_check_backward_distance: 100.0           # [m]
         hysteresis_factor_expand_rate: 1.5              # [-]
         hysteresis_factor_safe_count: 3                 # [-]
+        collision_check_yaw_diff_threshold: 3.1416      # [rad]
         # predicted path parameters
         min_velocity: 1.38                              # [m/s]
         max_velocity: 50.0                              # [m/s]
@@ -284,6 +285,19 @@
           max_acceleration: 0.5                         # [m/ss]
           min_velocity_to_limit_max_acceleration: 2.78  # [m/ss]
 
+      # path generation method. select "shift_line_base" or "optimization_base" or "both".
+      # "shift_line_base"  : Create avoidance path based on shift line.
+      #                      User can control avoidance maneuver execution via RTC.
+      #                      However, this method doesn't support complex avoidance scenario (e.g. S-shape maneuver).
+      # "optimization_base": This module selects avoidance target object
+      #                      and bpp module clips drivable area based on avoidance target object polygon shape.
+      #                      But this module doesn't modify the path shape.
+      #                      On the other hand, autoware_path_optimizer module optimizes path shape instead of this module
+      #                      so that the path can be within drivable area. This method is able to deal with complex avoidance scenario.
+      #                      However, user can't control avoidance manuever execution.
+      # "both"             : Use both method.
+      path_generation_method: "shift_line_base"
+
       shift_line_pipeline:
         trim:
           quantize_size: 0.1
@@ -293,8 +307,8 @@
 
       # for debug
       debug:
-        enable_other_objects_marker: false
-        enable_other_objects_info: false
+        enable_other_objects_marker: true
+        enable_other_objects_info: true
         enable_detection_area_marker: false
         enable_drivable_bound_marker: false
         enable_safety_check_marker: false

diff --git a/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -182,6 +182,7 @@
             time_horizon: 10.0
           # hysteresis factor to expand/shrink polygon with the value
           hysteresis_factor_expand_rate: 1.0
+          collision_check_yaw_diff_threshold: 3.1416
           # temporary
           backward_path_length: 30.0
           forward_path_length: 100.0

diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -30,6 +30,7 @@
       # safety check
       safety_check:
         allow_loose_check_for_cancel: true
+        collision_check_yaw_diff_threshold: 3.1416
         execution:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -1.0

diff --git a/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
@@ -9,79 +9,69 @@
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
       priority: 6
-      max_module_size: 1
 
     external_request_lane_change_right:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
       priority: 6
-      max_module_size: 1
 
     lane_change_left:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
       priority: 5
-      max_module_size: 1
 
     lane_change_right:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
       priority: 5
-      max_module_size: 1
 
     start_planner:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
       priority: 0
-      max_module_size: 1
 
     side_shift:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
       priority: 2
-      max_module_size: 1
 
     goal_planner:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: true
       priority: 1
-      max_module_size: 1
 
     static_obstacle_avoidance:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
       priority: 4
-      max_module_size: 1
 
     avoidance_by_lane_change:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
       priority: 3
-      max_module_size: 1
 
     dynamic_obstacle_avoidance:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: true
       priority: 7
-      max_module_size: 1
 
     sampling_planner:
       enable_module: true
@@ -90,4 +80,3 @@
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
       priority: 16
-      max_module_size: 1
diff --git a/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -143,8 +143,10 @@
             lateral_distance_max_threshold: 2.0
             longitudinal_distance_min_threshold: 3.0
             longitudinal_velocity_delta_time: 0.8
+            extended_polygon_policy: "along_path" # [-] select "rectangle" or "along_path"
           # hysteresis factor to expand/shrink polygon
           hysteresis_factor_expand_rate: 1.0
+          collision_check_yaw_diff_threshold: 1.578
           # temporary
           backward_path_length: 30.0
           forward_path_length: 100.0

diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -37,6 +37,7 @@
         motorcycle: true
         bicycle: true
         pedestrian: true
+        pointcloud: false
 
       cruise_obstacle_type:
         inside:
@@ -68,8 +69,17 @@
         motorcycle: true
         bicycle: true
         pedestrian: true
+        pointcloud: false
 
     behavior_determination:
+      pointcloud_search_radius: 5.0
+      pointcloud_voxel_grid_x: 0.05
+      pointcloud_voxel_grid_y: 0.05
+      pointcloud_voxel_grid_z: 100000.0
+      pointcloud_cluster_tolerance: 1.0
+      pointcloud_min_cluster_size: 1
+      pointcloud_max_cluster_size: 100000
+
       decimate_trajectory_step_length : 2.0 # longitudinal step length to calculate trajectory polygon for collision checking
 
       prediction_resampling_time_interval: 0.1

diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -10,7 +10,7 @@
   <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
   <let name="latlon_controller_param_path_dir" value="" unless="$(var use_individual_control_param)"/>
 
-  <include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
+  <include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.xml">
     <!-- option -->
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="use_multithread" value="true"/>

diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -29,7 +29,7 @@
     <arg name="system_monitor_process_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/process_monitor.param.yaml"/>
     <arg name="system_monitor_voltage_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/voltage_monitor.param.yaml"/>
 
-    <arg name="use_emergency_handler" value="true"/>
+    <arg name="use_emergency_handler" value="false"/>
     <arg name="mrm_handler_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_handler/mrm_handler.param.yaml"/>
     <arg name="diagnostic_graph_aggregator_param_path" value="$(var diagnostic_graph_aggregator_param_path)"/>
     <arg name="diagnostic_graph_aggregator_graph_path" value="$(var diagnostic_graph_aggregator_graph_path)"/>